December 2012
Intermediate to advanced
192 pages
7h 37m
English
Content preview from Minimalist Mobile Robotics
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3.3 Controlling the hand
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3.3 Controlling the hand
The robot's hand is controlled cooperatively by a set of 6
independent behaviors. Figure 3-6 shows these behaviors and
their interconnections. Each box in the diagram is a "module"
and implements a specific behavior. All behaviors interact
through "suppressor" nodes (circles "S" inside). As mentioned
earlier, the semantics of these nodes is that a signal coming into
the top can override the signal passing through. Note that we
have broken the total collection down into two separate groups -
Cradle and Grip - which we refer to as "levels of
competence". Here, the Grip level allows the robo
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